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<li class="navelem"><a class="el" href="class_c_dynamic_window_approach.html">CDynamicWindowApproach</a></li><li class="navelem"><a class="el" href="struct_c_dynamic_window_approach_1_1_s_evaluation_parameter.html">SEvaluationParameter</a></li>  </ul>
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<a href="#pub-methods">Public 成员函数</a> &#124;
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<a href="struct_c_dynamic_window_approach_1_1_s_evaluation_parameter-members.html">所有成员列表</a>  </div>
  <div class="headertitle"><div class="title">CDynamicWindowApproach::SEvaluationParameter结构体 参考</div></div>
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<p>评估函数结构体  
 <a href="struct_c_dynamic_window_approach_1_1_s_evaluation_parameter.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="cdynamicwindowapproach_8h_source.html">cdynamicwindowapproach.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:aa9c8c7543b33930b32e8b440294e82fb"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_c_dynamic_window_approach_1_1_s_evaluation_parameter.html#aa9c8c7543b33930b32e8b440294e82fb">SEvaluationParameter</a> (double heading=0, double clearance=0, double velocity=0, double u=0, double v=0, double r=0)</td></tr>
<tr class="memdesc:aa9c8c7543b33930b32e8b440294e82fb"><td class="mdescLeft">&#160;</td><td class="mdescRight">默认构造函数  <a href="struct_c_dynamic_window_approach_1_1_s_evaluation_parameter.html#aa9c8c7543b33930b32e8b440294e82fb">更多...</a><br /></td></tr>
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Public 属性</h2></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>m_heading</b></td></tr>
<tr class="separator:a5b9385987a3bb34eeea04f1e1037821b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0dcd5d5c481435621816471d805f51d7"><td class="memItemLeft" align="right" valign="top"><a id="a0dcd5d5c481435621816471d805f51d7" name="a0dcd5d5c481435621816471d805f51d7"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>m_clearance</b></td></tr>
<tr class="separator:a0dcd5d5c481435621816471d805f51d7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6fe53567b2e3b58d7b649836eedcdf82"><td class="memItemLeft" align="right" valign="top"><a id="a6fe53567b2e3b58d7b649836eedcdf82" name="a6fe53567b2e3b58d7b649836eedcdf82"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>m_velocity</b></td></tr>
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<tr class="memitem:a325e38b26c027211e9e28bfb49579df3"><td class="memItemLeft" align="right" valign="top"><a id="a325e38b26c027211e9e28bfb49579df3" name="a325e38b26c027211e9e28bfb49579df3"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>m_u</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>m_v</b></td></tr>
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<tr class="memitem:a194e5db9e81dc7fdfef3ad8047c5b79d"><td class="memItemLeft" align="right" valign="top"><a id="a194e5db9e81dc7fdfef3ad8047c5b79d" name="a194e5db9e81dc7fdfef3ad8047c5b79d"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>m_r</b></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p >评估函数结构体 </p>
<p >f = sigma(alpha*heading + beta*clearance + gamma*velocity) </p>
</div><h2 class="groupheader">构造及析构函数说明</h2>
<a id="aa9c8c7543b33930b32e8b440294e82fb" name="aa9c8c7543b33930b32e8b440294e82fb"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aa9c8c7543b33930b32e8b440294e82fb">&#9670;&nbsp;</a></span>SEvaluationParameter()</h2>

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          <td class="memname">CDynamicWindowApproach::SEvaluationParameter::SEvaluationParameter </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>heading</em> = <code>0</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>clearance</em> = <code>0</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>velocity</em> = <code>0</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>u</em> = <code>0</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>v</em> = <code>0</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>r</em> = <code>0</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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<p>默认构造函数 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">heading</td><td></td></tr>
  </table>
  </dd>
</dl>
<p>DWA原算法中表示与target的朝向，在本算法中表示与目标航线之间的距离 </p><dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">clearance</td><td></td></tr>
  </table>
  </dd>
</dl>
<p>表示与最近障碍物之间的距离，要注意必须大于等于安全距离（也就是刹车距离） </p><dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">velocity</td><td></td></tr>
  </table>
  </dd>
</dl>
<p>原DWA算法中表示速度，在本算法中由于速度已经被分解为u和v，所以应当是sqrt(pow(u,2)+pow(v,2)) </p><dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">u</td><td>横向速度 </td></tr>
    <tr><td class="paramname">v</td><td>纵向速度 </td></tr>
    <tr><td class="paramname">r</td><td>角速度 </td></tr>
  </table>
  </dd>
</dl>

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<hr/>该结构体的文档由以下文件生成:<ul>
<li>D:/QtProject/DynamicWindowApproach/<a class="el" href="cdynamicwindowapproach_8h_source.html">cdynamicwindowapproach.h</a></li>
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